from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    # 参数配置
    config = os.path.join(
        get_package_share_directory('five_robot_arms_python_pkg'),
        'config',
        'robot_arms_params.yaml'
    )
    
    return LaunchDescription([
        Node(
            package='five_robot_arms_python_pkg',
            executable='robot_arms_node',
            name='robot_arms',
            output='screen',
            parameters=[config]  # 加载参数文件
        )
    ])